相关论文: DecoDINO: 3D Human-Scene Contact Prediction with S…

Semantic information has been proved effective in scene text recognition. Most existing methods tend to couple both visual and semantic information in an attention-based decoder. As a result, the learning of semantic features is prone to…

Dense hand contact estimation requires both high-level semantic understanding and fine-grained geometric reasoning of human interaction to accurately localize contact regions. Recently, multi-modal large language models (MLLMs) have…

Foot contact plays a critical role in human interaction with the world, and thus exploring foot contact can advance our understanding of human movement and physical interaction. Despite its importance, existing methods often approximate…

Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…

The task of Human-Object Interaction (HOI) detection is to detect humans and their interactions with surrounding objects, where transformer-based methods show dominant advances currently. However, these methods ignore the relationship among…

We propose a deep learning approach for finding dense correspondences between 3D scans of people. Our method requires only partial geometric information in the form of two depth maps or partial reconstructed surfaces, works for humans in…

3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…

Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we present VIRDO:an implicit, multi-modal, and continuous representation for…

Structured scene descriptions of images are useful for the automatic processing and querying of large image databases. We show how the combination of a semantic and a visual statistical model can improve on the task of mapping images to…

Modern vision models have achieved strong object-recognition performance, yet it remains unclear whether their representations encode object-level semantic relatedness, the meaningful connection between object concepts that supports human…

Predicting salient regions in natural images requires the detection of objects that are present in a scene. To develop robust representations for this challenging task, high-level visual features at multiple spatial scales must be extracted…

Understanding social interactions involving both verbal and non-verbal cues is essential for effectively interpreting social situations. However, most prior works on multimodal social cues focus predominantly on single-person behaviors or…

With a proliferation of generic domain-adaptation approaches, we report a simple yet effective technique for learning difficult per-pixel 2.5D and 3D regression representations of articulated people. We obtained strong sim-to-real domain…

Large-scale, high-quality multimodal demonstrations are essential for robot learning of contact-rich dexterous manipulation. While human-centric data collection systems lower the barrier to scaling, they struggle to capture the tactile…

Human-Object Interaction (HOI) detection aims to identify humans and objects within images and interpret their interactions. Existing HOI methods rely heavily on large datasets with manual annotations to learn interactions from visual cues.…

Recent advances in pre-training vision-language models like CLIP have shown great potential in learning transferable visual representations. Nonetheless, for downstream inference, CLIP-like models suffer from either 1) degraded accuracy and…

We address the problem of detecting human-object interactions in images using graphical neural networks. Unlike conventional methods, where nodes send scaled but otherwise identical messages to each of their neighbours, we propose to…

Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…

Dense visual correspondence plays a vital role in robotic perception. This work focuses on establishing the dense correspondence between a pair of images that captures dynamic scenes undergoing substantial transformations. We introduce…

Dense 3D correspondence can enhance robotic manipulation by enabling the generalization of spatial, functional, and dynamic information from one object to an unseen counterpart. Compared to shape correspondence, semantic correspondence is…